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AttPosEKF: Fix initialization of AMSL estimation without GPS

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Johan Jansen
2015-02-10 14:56:19 +01:00
parent 66cb129d18
commit 3d1e373e36
1 changed files with 1 additions and 0 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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@@ -1331,6 +1331,7 @@ void AttitudePositionEstimatorEKF::task_main()
_local_pos.ref_alt = _baro_ref;
_baro_ref_offset = 0.0f;
_baro_gps_offset = 0.0f;
_baro_alt_filt = _baro.altitude;
_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);